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Code Issues Releases Wiki Activity

add option to embed a physics server in the physics client example, for easier debugging

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This commit is contained in:
erwin coumans 2016-05-18 09:34:42 -07:00
parent f6517b64eb
commit a395ddcb06
3 changed files with 90 additions and 16 deletions
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5
examples/ExampleBrowser/ExampleEntries.cpp
View File

@ -230,7 +230,8 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Experiments"),
ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
@ -239,6 +240,8 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
LuaDemoCreateFunc),

94
examples/SharedMemory/PhysicsClientExample.cpp
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@ -11,7 +11,7 @@
#include "PhysicsLoopBackC_API.h"
#include "PhysicsDirectC_API.h"
#include "PhysicsClientC_API.h"
#include "PhysicsServerSharedMemory.h"
struct MyMotorInfo2
{
btScalar m_velTarget;
@ -28,6 +28,9 @@ class PhysicsClientExample : public SharedMemoryCommon
{
protected:
b3PhysicsClientHandle m_physicsClientHandle;
//this m_physicsServer is only used when option eCLIENTEXAMPLE_SERVER is enabled
PhysicsServerSharedMemory m_physicsServer;
bool m_wantsTermination;
btAlignedObjectArray<int> m_userCommandRequests;
@ -38,15 +41,18 @@ protected:
void createButtons();
public:
//@todo, add accessor methods
// MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
MyMotorInfo2 m_motorTargetPositions[MAX_NUM_MOTORS];
int m_numMotors;
int m_options;
bool m_isOptionalServerConnected;
PhysicsClientExample(GUIHelperInterface* helper);
public:
PhysicsClientExample(GUIHelperInterface* helper, int options);
virtual ~PhysicsClientExample();
virtual void initPhysics();
@ -93,6 +99,11 @@ public:
virtual void exitPhysics(){};
virtual void renderScene()
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.renderScene();
}
b3DebugLines debugLines;
b3GetDebugLines(m_physicsClientHandle,&debugLines);
int numLines = debugLines.m_numDebugLines;
@ -153,7 +164,13 @@ public:
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual void physicsDebugDraw(int debugFlags)
{
if (m_options==eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.physicsDebugDraw(debugFlags);
}
}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
virtual bool keyboardCallback(int key, int state){return false;}
@ -352,7 +369,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: {
b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
b3PhysicsParamSetGravity(commandHandle, 0.0, 0.0, -9.8);
b3SubmitClientCommandAndWaitStatus(m_physicsClientHandle, commandHandle);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
@ -365,14 +382,16 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper, int options)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
{
b3Printf("Started PhysicsClientExample\n");
}
@ -384,6 +403,12 @@ PhysicsClientExample::~PhysicsClientExample()
b3ProcessServerStatus(m_physicsClientHandle);
b3DisconnectSharedMemory(m_physicsClientHandle);
}
if (m_options == eCLIENTEXAMPLE_SERVER)
{
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
b3Printf("~PhysicsClientExample\n");
}
@ -406,7 +431,10 @@ void PhysicsClientExample::createButtons()
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
if (m_options!=eCLIENTEXAMPLE_SERVER)
{
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
}
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
@ -477,6 +505,11 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
@ -491,6 +524,15 @@ void PhysicsClientExample::initPhysics()
void PhysicsClientExample::stepSimulation(float deltaTime)
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
for (int i=0;i<100;i++)
{
m_physicsServer.processClientCommands();
}
}
if (m_prevSelectedBody != m_selectedBody)
{
createButtons();
@ -564,10 +606,29 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
m_selectedBody = -1;
m_numMotors=0;
createButtons();
}
prepareAndSubmitCommand(commandId);
b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle);
if (m_options == eCLIENTEXAMPLE_SERVER)
{
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
while (!b3CanSubmitCommand(m_physicsClientHandle))
{
m_physicsServer.processClientCommands();
b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
bool hasStatus = (status != 0);
if (hasStatus)
{
int statusType = b3GetStatusType(status);
b3Printf("Status after reset: %d",statusType);
}
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
@ -575,7 +636,10 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
enqueueCommand(CMD_SEND_DESIRED_STATE);
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
if (m_options != eCLIENTEXAMPLE_SERVER)
{
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
}
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
}
}
@ -589,7 +653,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
{
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

7
examples/SharedMemory/PhysicsClientExample.h
View File

@ -1,6 +1,13 @@
#ifndef PHYSICS_CLIENT_EXAMPLE_H
#define PHYSICS_CLIENT_EXAMPLE_H
enum ClientExampleOptions
{
eCLIENTEXAMPLE_LOOPBACK=1,
eCLIENTEAXMPLE_DIRECT=2,
eCLIENTEXAMPLE_SERVER=3,
};
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options);
#endif//PHYSICS_CLIENT_EXAMPLE_H